NDLI: On the determination of cable characteristics for large dimension cable-driven parallel mechanisms

Content Provider	IEEE Xplore Digital Library
Author	Riehl, N. Gouttefarde, M. Baradat, C. Pierrot, F.
Copyright Year	2010
Description	Author affiliation: Fatronik France Tecnalia, Cap Omega Rond-point B. Franklin, 34960 Montpellier Cedex 2, France (Riehl, N.; Baradat, C.) \|\| Laboratoire d'Informatique, de Robotique et de Microélectronique de Montpellier (LIRMM), 161 rue Ada, 34392 Montpellier Cedex 5, France (Gouttefarde, M.; Pierrot, F.)
Abstract	Generally, the cables of a parallel cable-driven robot are considered to be massless and inextensible. These two characteristics cannot be neglected anymore for large dimension mechanisms in order to obtain good positioning accuracy. A well-known model which describes the profile of a cable under the action of its own weight allows us to take mass and elasticity into account. When designing a robot, and choosing actuator and cable characteristics, a calculation of maximal tension has to be done. However, because cable mass has a significant effect on cable tensions, a model including cable mass has to be included in the design step. This paper proposes two methods to determine the appropriate cable and hence the maximal tensions in the cables. Applied to a large dimension robot, taking cable mass into account is proved to be necessary in comparison with an equivalent method based on the massless cable modeling. In this paper, only moving platform static equilibria are considered (slow enough motions).
Starting Page	4709
Ending Page	4714
File Size	503980
Page Count	6
File Format	PDF
ISBN	9781424450381
ISSN	10504729
DOI	10.1109/ROBOT.2010.5509887
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2010-05-03
Publisher Place	USA
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Cables Parallel robots Actuators Elasticity Robotics and automation Kinematics USA Councils Wounds End effectors Gravity
Content Type	Text
Resource Type	Article
Subject	Artificial Intelligence Control and Systems Engineering Electrical and Electronic Engineering Software

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